Apparatus and methods for pre-processing and stabilization of captured image data

ABSTRACT

Apparatus and methods for the pre-processing of image data so as to enhance quality of subsequent encoding and rendering. In one embodiment, a capture device is disclosed that includes a processing apparatus and a non-transitory computer readable apparatus comprising a storage medium have one or more instructions stored thereon. The one or more instructions, when executed by the processing apparatus, are configured to: receive captured image data (such as that sourced from two or more separate image sensors) and pre-process the data to enable stabilization of the corresponding images prior to encoding. In some implementations, the pre-processing includes combination (e.g., stitching) of the captured image data associated with the two or more sensors to facilitates the stabilization. Advantageously, undesirable artifacts such as object “jitter” can be reduced or eliminated. Methods and non-transitory computer readable apparatus are also disclosed.

RELATED APPLICATIONS

This application is generally related to the subject matter of co-ownedU.S. patent application Ser. No. 16/235,866 entitled “APPARATUS ANDMETHODS FOR NON-UNIFORM DOWNSAMPLING OF CAPTURED PANORAMIC IMAGES” filedDec. 28, 2018, which claims the benefit of priority to U.S. ProvisionalPatent Application Ser. No. 62/612,041 filed Dec. 29, 2017 and entitled“METHODS AND APPARATUS FOR RE-PROJECTION OF PANORAMIC CONTENT,” each ofthe foregoing incorporated herein by reference in its entirety.

PRIORITY

This application claims the benefit of priority to co-owned U.S. patentapplication Ser. No. 16/503,320 entitled “APPARATUS AND METHODS FORPRE-PROCESSING AND STABILIZATION OF CAPTURED IMAGE DATA” filed Jul. 3,2019, the contents of which are incorporated herein by reference in itsentirety. CL COPYRIGHT

A portion of the disclosure of this patent document contains materialthat is subject to copyright protection. The copyright owner has noobjection to the facsimile reproduction by anyone of the patent documentor the patent disclosure, as it appears in the Patent and TrademarkOffice patent files or records, but otherwise reserves all copyrightrights whatsoever.

TECHNICAL FIELD

The present disclosure relates generally to video image processing andin one exemplary aspect, to methods and apparatus for the processing ofcaptured image data, including pre-processing and stabilization of imagedata.

DESCRIPTION OF RELATED TECHNOLOGY

Spherical images are typically obtained by capturing multiple imageswith overlapping fields of view from different cameras and combining(“stitching”) data of these images together in order to provide atwo-dimensional projection. Unfortunately, these captured panoramicimages are not well-suited for use with traditional encoders/decoders.For example, the GoPro® Fusion camera system includes image sensorswhich natively capture at a 3100 pixel by 3000 pixel resolution.However, this native image needs to be processed into a format (e.g.,MPEG) which is useful for subsequent consuming devices, such as theuser's PC or mobile device.

Conventionally, in order to retain the maximum amount of image quality,the data processing “work flow” should seek to minimize the introductionof errors. Specifically, as shown in FIG. 1 , the video data derivedfrom the different capturing sensors 110 (e.g., spherical cameras) isstitched on a high-performance processor (e.g., high-end videoproduction platform 150) after it has been encoded by the capture device100. In some exemplary scenarios (such as that shown in FIG. 1 ), thefollowing process 102 is utilized by the capture device 100: (i) capture“RAW” or unrefined data at the highest quality and obtain correspondingunrefined image data; and (ii) encode the unrefined image data to thetarget codec (e.g., MPEG) at the highest quality consistent with thatcodec (which may itself be lossy).

Once the encoded data has been transferred to the production platform150, the following process 104 is used: (i) decode the encoded MPEG(again at its highest quality); and (ii) stitch the image data which hasbeen decoded from MPEG for presentation.

As a brief aside, the “RAW” or unrefined data referenced above is notimage data per se; it has all of the data necessary to ultimately createan image, but it is not an image file that is formatted for or capableof rendering via a codec (e.g., for display on a target device). Onepurpose of the RAW image data is to preserve the data obtained from thecapturing sensor in its full detail. As an initial step to various imageprocessing operations, the RAW or unrefined data from the sensor(s) isconverted into an unrefined image data format.

In contrast to unrefined image data, target codec formats such as MPEGare formatted to be able to be rendered by a playing device such as aPC, laptop, or mobile device with the appropriate codec software.Accordingly, in many cases, a standard display range (e.g., 8 bit, 16bit, etc.) and standard display size (e.g., 1080p, etc.) are utilized toenable consistency with ubiquitous commercial display and renderingtechnologies.

Returning again to FIG. 1 , the encoding process 102 utilized by thecapture device 100 involves a series of steps, including (i) motionestimation (which may include e.g., edge detection, velocity estimation,etc.), (ii) quantization/DCT (discrete cosine transformation), and (iii)residual encoding. Likewise, the “stitch” of the video 104 of FIG. 1includes several constituent steps comprising: (i) edge detection, (ii)actual stitching or combination of the image data portions, and (iii)stabilization. Overall, such constituent steps are not onlyprocessor-intensive, but as described in greater detail below, injectundesirable artifacts or errors into the process when the encoded videodata is ultimately decoded and processed 104 by the video processingplatform 150.

Conversely, transfer of the captured unrefined image data to the targetvideo production platform is highly non-optimized for, inter alia,mobile “action” capture devices, since: (i) storage of the comparativelyvoluminous (non-encoded) unrefined image data necessitates excessiveon-board storage capability, and (ii) transmission of such unrefinedimage data greatly strains the bandwidth capabilities of all but themost robust data interfaces.

FIGS. 2A and 2B illustrate one undesirable artifact that may beintroduced into the encoding/decoding/stitch process using the foregoingapproach (shown with respect to decoded and processed images). In theexemplary case of the aforementioned mobile action camera, significantamounts of motion of the camera relative to its surroundings may exist(due to the nature of a typical use case, such as riding a mountain bikeor surfing).

As an aside, motion-compensated video encoders such as MPEG aretypically implemented in three stages: (i) motion estimation between thepreviously reconstructed frame and a current frame; (ii) current frameprediction using the motion estimates and the previously reconstructedframe; and (iii) differential encoding of the current frame predictionand the actual current frame (as prediction error). A receiveraccordingly reconstructs the current image only using the encoded motionestimates and the prediction error.

Returning again to the first panel 202 of FIG. 2A, a series ofsubsequent image frames show a mountain peak 207 and a cloud 208. As thecapture device (camera) moves relative to its surroundings, some of thecaptured image frames 210 display a relative movement or “jitter”relative to a stable frame of reference. While the mountain 207 andcloud do not themselves physically move (at least any perceptibleamount) frame-to-frame, the motion of the camera makes them appear tomove relative to the boundaries of the frame.

As shown in the second panel 204 of FIG. 2A, the apparent video frames(as viewed from the frame of reference of the camera and vieweroperating the camera) appear stable, but the mountain/cloud moverelative thereto from frame to frame.

Lastly, as shown in the third panel 206, the jitter- or motion-correctedvideo frames 212 (as corrected by the methodology of FIG. 1 ) show goodstabilization of the mountain 207, but poor stabilization of the cloud208. This result is due to several factors, as discussed now in greaterdetail with respect to FIG. 2B.

As shown in FIG. 2B, the mountain peak 207 has comparatively highcontrast, and several discrete edges (and hence is “easy” to see jitterassociated therewith from a processing perspective). Specifically, theapplicable video coder encodes the mountain peak once (in an I-frame),and can use relative motion to describe its jitter (in P and B frames).

In contrast, the cloud 208 (note that the cloud is outlined to bettershow its motion in this Figure) has comparatively low contrast, and fewif any discrete edges. Since the clouds are low contrast relative totheir background, and have low edge content, the aforementioned videocoder determines that the low information content of the cloud does notwarrant its own relative motion vectors. The encoder assigns them thesame relative motion vector as the mountain peak. The decoder decodesand renders the cloud once, and then uses the relative motion residualto update subsequent frames. Hence, from a processing perspective, thereis no apparent jitter associated with the cloud 208, but in reality theencoder “mis-corrects” the cloud 208, and as a result it appears to“dance” or shake when viewed on playback of the encoded (and stitched)file. The cloud is rendered correctly as to shape and size, but itsmotion is recognizably wrong and non-physical.

Part of the reason behind the foregoing undesirable result is thatextant ostensibly “high quality” encoding such as via the process shownin FIG. 1 , is focused on perceptible visual effects for humans, notmachines. Computer algorithms tend to focus on sharp lines and smoothmotion across each frame, and hence poorly resolved subject matter suchas the cloud 208 are not handled optimally under the approach shown inFIG. 1 . This is exacerbated by (or even rooted in) the placement of the(only) stabilization process at the end of the processing work flow ofFIG. 1 , thereby forcing the encoding process to attempt to perform“challenging” motion estimation/compensation such as that for thelow-contrast cloud 208.

Accordingly, what is needed are improved methods and apparatus forprocessing captured video data (including that which is associated withmultiple sensors, and hence requires matching or “stitching”) whichovercomes the foregoing disabilities. Ideally, such improved method andapparatus should be readily compatible with current data formats(including e.g., unrefined image data formats) and capture deviceprocessing and storage capabilities, and enable ready transfer off ofthe capture device by conventional (e.g., wireless) interfaces, yetstill preserve the high image quality desired by users (includingaccurate and high-quality stitching, as well as elimination or reductionof undesirable video artifact and corresponding reduction of encodedbitrate).

SUMMARY

The present disclosure satisfies the foregoing needs by providing, interalia, methods and apparatus for the effective and efficient processingof captured image data.

In one aspect, the foregoing methods and apparatus for processinginclude (i) pre-processing of a first data format obtained from two ormore sensors to perform a rough or first-level “stitch” (aka“pre-stitch) of the data; (ii) stabilization of the pre-stitched data,and (iii) encoding of the stabilized pre-stitched data into a secondformat for transfer to a video platform. In one variant, the first dataformat is unrefined image data, and the second format is a target codecformat such as an MPEG-based format.

In another aspect, a data capture device is disclosed. In oneembodiment, the capture device includes a processing apparatus; two ormore sensors configured to capture image data in data communication withthe processing apparatus; and a non-transitory computer readableapparatus having a storage medium that includes one or more instructionsstored thereon, the one or more instructions, when executed by theprocessing apparatus, being configured to: receive captured image datafrom the two or more sensors; pre-process the captured image data; andencode the pre-processed image data.

In one variant, the captured image data is generated by fisheye lenssensors, and the pre-processing comprises: (i) a preliminary stitchoperation of the two or more sets of image data; and (ii) astabilization operation.

In another variant, the captured image data is rendered in an unrefinedimage data format, and after the pre-processing is completed, thepre-processed unrefined image data is encoded into a target codecformat. In one implementation, the target codec includes an MPEG-basedcodec format.

In yet another variant, the one or more instructions, when executed bythe processing apparatus, are further configured to transmit the encodedimage data via a network interface of the capture device. In oneimplementation, the transmitted encoded image data retains a prescribedpercentage of a full resolution of the source unrefined image data.

In another aspect, a computing device is disclosed. In one embodiment,the computing device includes a processing apparatus; a networkinterface; and a non-transitory computer readable apparatus having astorage medium that includes one or more instructions stored thereon,the one or more instructions, when executed by the processing apparatus,being configured to: receive encoded (pre-processed) captured image datafrom a capture device via the network interface; decode the encodedcaptured image data; and perform post-processing of the decoded imagedata according to one or more presentation rules.

In one variant, the post-processing comprises a high-quality or “full”stitch operation of the decoded, pre-processed (e.g., pre-stitched andstabilized) image data, and the computing device comprises ahigh-performance video development platform such as a PC.

In one variant, the post-processing comprises a medium-quality stitchoperation of the decoded, pre-processed (e.g., pre-stitched andstabilized) image data, and the computing device comprises a mobiledevice such as a smartphone.

In another aspect, a method of encoding captured images is disclosed. Inone embodiment, the method includes receiving first and second capturedimage data in a first format on a first platform, the first and secondcaptured image data obtained using respective first and second imagesensors; algorithmically performing a preliminary matching operationbetween at least portions of the first and second image data; andalgorithmically stabilizing at least the matched first and second imagedata to produce stabilized first and second image data.

In one variant, the method further includes encoding the stabilizedimage utilizing a lossy image data compression algorithm. In oneimplementation, the method further includes transferring the encodedstabilized image data to a second platform, and (i) decoding the encodedstabilized image data; and (ii) performing post-processing of thedecoded stabilized image data according to one or more prescribedoperations.

In another aspect, a system is disclosed. In one embodiment, the systemincludes (i) one or more capture devices, and (ii) on or more processingplatforms. In one variant, the one or more capture devices aremulti-sensor (e.g., multi CMOS or CCD-based imaging sensors) actioncamera devices, and the one or more processing platforms comprisepersonal computer(s). In another variant, the processing platform(s)is/are one or more wireless-enabled smartphone(s). In yet anotherembodiment, the one or more processing platforms comprise one or morecloud-based computing assets (e.g., servers or server farms).

In yet a further aspect, a video processing-enabled mobile device isdisclosed. In one embodiment, the mobile device includes processingapparatus, a wireless network interface, and a storage device in datacommunication with the processing apparatus, the storage devicecomprising at least one computer program configured to, when executed:(i) receive, via the wireless network interface, pre-processed andencoded video data from a capture device; (ii) decode the encodedreceived data; and (iii) post-process the decoded data based on one ormore display or presentation considerations. In one variant, thepost-processing includes utilization of one or more stitching orsmoothing algorithms to refine the quality of a composite imagegenerated from two or more constituent images making up thepre-processed data that was transmitted from the capture device.

In another aspect, an integrated circuit (IC) device implementing one ormore of the foregoing aspects is disclosed and described. In oneembodiment, the IC device is embodied as a SoC (system on Chip) device.In another embodiment, an ASIC (application specific IC) is used as thebasis of the device. In yet another embodiment, a chip set (i.e.,multiple ICs used in coordinated fashion) is disclosed. In yet anotherembodiment, the device comprises a multi-logic block FPGA device.

In another aspect, a non-transitory computer readable storage apparatusimplementing one or more of the foregoing aspects is disclosed anddescribed. In one embodiment, the computer readable apparatus comprisesa program memory, or an EEPROM. In another embodiment, the apparatusincludes a solid state drive (SSD) or other mass storage device. Inanother embodiment, the apparatus comprises a USB or other “flash drive”or other such portable removable storage device.

In another aspect, a method of encoding captured video data so as toeliminate motion-related jitter of one or more portions of the capturedvideo data is disclosed. In one exemplary embodiment, the methodincludes: receiving first captured video data captured by a firstsensor, the first captured video data rendered in a first format andhaving a first field of view (FOV); receiving second captured video datacaptured by a second sensor, the second captured video data rendered inthe first format and having a second FOV which at least partly overlapswith the first FOV; combining the first captured video data and thesecond captured video data while each are in the first format so as toproduce first combined video data; performing a stabilization process onthe first combined video data so as to produce stabilized combined videodata; encoding the stabilized combined video data to produce encodedstabilized combined video data; and storing the encoded stabilizedcombined video data into at least one data structure associated with asecond format utilized by a target encoder process. In one variant, thecombining, performing and encoding cooperate to enable subsequentmanipulation of the data structure by a computerized process to furtherenhance at least one attribute of the encoded stabilized combined videodata.

In another aspect of the present disclosure, a method of encodingcaptured image data is disclosed. In one embodiment, the method reducesat least a file size, and includes: receiving captured image datacaptured by at least one sensor, the captured image data associated witha first format; pre-processing the captured image data associated withthe first format; encoding the pre-processed captured image data into atleast one of a data file or plurality of streaming packets associatedwith a second format; and causing at least one of (i) storing of thedata file or plurality of streaming packets, or (ii) transmitting of thedata file or plurality of streaming packets over a data interface.

In another aspect of the present disclosure, a computerized device isdisclosed. In one embodiment, the computerized device includes anon-transitory computer readable apparatus in data communication with adigital processing apparatus and comprising a storage medium, thestorage medium having one or more instructions stored there, the one ormore instructions being configured to, when executed by the digitalprocessing apparatus, cause the computerized device to: receive capturedimage data; process the captured image data so as to providestabilization of at least a portion thereof; and encode the processedimage data.

Other features and advantages of the present disclosure will immediatelybe recognized by persons of ordinary skill in the art with reference tothe attached drawings and detailed description of exemplaryimplementations as given below.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram illustrating one prior approach to processingcaptured video data.

FIGS. 2A and 2B are graphical representations of disabilities associatedwith some approaches to jitter correction of video data.

FIG. 3 is a block diagram illustrating one approach to captured videodata processing according to the present disclosure.

FIG. 3A is a block diagram illustrating the approach to captured videodata processing of FIG. 3 according to one implementation thereof.

FIG. 4 is a block diagram of an exemplary implementation of a capture(e.g., action camera) device, useful in performing the methodologiesdescribed herein.

FIG. 4A is a block diagram of one exemplary implementation of thecapture device of FIG. 4 , illustrating the relationship of the fieldsof view (FOV) of the two spherical or “fisheye” sensors.

FIG. 5A is a pictorial representation of a fisheye projection of acaptured scene, in accordance with the principles of the presentdisclosure.

FIG. 5B is a graphical representation of a lens of an exemplaryspherical camera system, in accordance with the principles of thepresent disclosure.

FIG. 5C is a plot of resolution density as a function of angle for thelens of FIG. 2B, in accordance with the principles of the presentdisclosure.

FIG. 5D is a pictorial representation of an ERP (equirectangularprojection) of a captured scene, in accordance with the principles ofthe present disclosure.

FIG. 5E is a graphical representation of a lens of an exemplaryrectilinear camera system, in accordance with the principles of thepresent disclosure.

FIG. 6 is a plot of resolution density as a function of angle for anumber of differing lenses, in accordance with the principles of thepresent disclosure.

FIG. 7 is a block diagram of an exemplary implementation of a recipientdevice (e.g., computing device), useful in performing the methodologiesdescribed herein.

FIG. 8 is a logical flow diagram of one exemplary embodiment of ageneralized method for processing captured video data, in accordancewith the principles of the present disclosure.

FIG. 8A is a logical flow diagram of one exemplary implementation of thegeneralized method for processing captured video data of FIG. 8 .

FIG. 8B is a logical flow diagram of another exemplary implementation ofthe generalized method for processing captured video data of FIG. 8 .

FIG. 9 is a block diagram illustrating different use cases oroperational scenarios which may utilize the methods and apparatus of thepresent disclosure.

DETAILED DESCRIPTION

Implementations of the present technology will now be described indetail with reference to the drawings, which are provided asillustrative examples and species of broader genuses so as to enablethose skilled in the art to practice the APPARATUS AND METHODS FORPRE-PROCESSING AND STABILIZATION OF CAPTURED IMAGE DATA technology.Notably, the figures and examples below are not meant to limit the scopeof the present disclosure to any single implementation orimplementations, but other implementations are possible by way ofinterchange of, substitution of, or combination with some or all of thedescribed or illustrated elements. Wherever convenient, the samereference numbers will be used throughout the drawings to refer to sameor like parts.

Moreover, while implementations described herein are primarily discussedin the context of spherical images that are captured using a sphericalcamera system having two (2) cameras (e.g., a front-facing and arear-facing camera), it is readily appreciated that the principlesdescribed herein can be equally applied to other camera configurationsthat include more, or less cameras. For example, when obtainingpanoramic (e.g., 360°) content, three or more images from three or morecameras may be “combined” (matched or stitched). Additionally, theprinciples of the present disclosure may be applied to camera systemsthat include only one (1) camera in certain circumstances (e.g., camerasystems with higher resolution image sensors and/or wider field of view(FOV) lenses).

Additionally, while primarily discussed in the context of cameraconfigurations in which each of the centers of view for the respectivecameras reside on a given two-dimensional plane, it is readilyappreciated that one or more of these cameras can reside such that theircenter of view is focused at an azimuthal angle (e.g., at 45°), withrespect to the given two-dimensional plane for other one(s) of thecameras.

Those of ordinary skill in the related arts will also readily appreciatethat symmetric and asymmetric camera configurations can be substitutedwith equivalent success. For example, a symmetric dual camera system (aJanus configuration) may have fisheye lenses that provide a FOV that isgreater than 180°. In asymmetric implementations, the cameras may havedifferent FOV angles; e.g., a higher resolution 195° front-facingcamera, and a lower resolution 245° rear-facing camera. Suchimplementations may be useful to store front and back images accordingto a common format size, while still providing higher resolution forobjects within the field of interest (e.g., the front camera'sperspective).

These and other variations would be readily apparent to one of ordinaryskill given the contents of the present disclosure.

Exemplary Image Data Processing Architecture

Referring now to FIGS. 3 and 3A, one exemplary embodiment of an imagedata processing architecture is shown and described in detail.Advantageously, this architecture overcomes the salient disabilitieswith the conventional approaches described with respect to FIGS. 1-2Bherein, including specifically the introduction of jitter or inaccuratemotion artifact during the data encoding and related processes.

As shown in FIGS. 3 and 3A, the architecture 300 generally includes afirst processing apparatus or platform (here, a capture device 302, butcould be another form factor or type of device such as an intermediarybetween the image sensor device(s) and downstream devices), and arecipient or target device 304 (e.g., a PC, or in some cases a mobiledevice such as a smartphone). In this embodiment, the first processingapparatus 302 obtains the generated unrefined image data from thesensor(s) 110, 120 (and their ISPs) and pre-processes the unrefinedimage data via pre-processing logic 308. Specifically, in oneimplementation, the pre-processing includes a simple combining (e.g.,“stitching”) 310 of the image data sourced from the individual sensors(and their ISPs), and stabilization 312 of the combined unrefined imagedata for e.g., motion-related artifact resulting from movement or jitterof the first platform 302. Exemplary combination and stabilizationalgorithms useful within this architecture are described in greaterdetail subsequently herein.

Notably, for images that will ultimately be stitched, failure to performat least some combination or stitch of the images derived from e.g., thetwo fisheye sensors of the camera apparatus 302, will often result inundesired artifacts during the “final” stitch conducted by thetarget/recipient platform 304. However, a full or high-quality stitch ofthe type described subsequently herein is not needed (or desired) inthis embodiment of the architecture. Rather, only the minimal level ofcombination of the images necessary to ensure accurate stabilization isneeded.

After the pre-processing (combination and stabilization) logicoperations have been completed (or at least have progressed sufficientlythat encoding may begin in parallel), the pre-processed unrefined imagedata is then encoded into the target codec format (e.g., a variant ofMPEG) per the encoder logic 314. Such encoding, while typically lossy innature, advantageously (i) greatly reduces the transmission bandwidthand storage requirements associated with the image data over theunrefined format, yet (ii) preserves the high quality of the originalimage data for subsequent manipulation (post-processing) by therecipient or target platform 304. As previously described, such encoding314 may include motion estimation, quantization/DCT, and residualencoding as well as other processes therein. Notably, however, with thestabilization of the combined or “pre-stitched” unrefined image databefore encoding is applied, the aforementioned undesired artifact(s)is/are eliminated. As an illustration, in the exemplary context of themountain peak and cloud of FIGS. 2A and 2B, the stabilization reduces oreliminates the opportunity for the subsequent encoding process to“mis-correct” for the cloud 208.

Next, as shown in FIGS. 3 and 3A, the encoded data (which may also befurther processed according to one or more container, transport, orother protocols for transmission, such as framing or packetization ofthe data according to the underlying PHY and higher layer protocols) istransmitted via e.g., wireless or wireline data interface to therecipient device 304. Notably, by both eliminating the unwanted artifactand encoding the pre-processed data from unrefined image format totarget codec format, the requisite transmission bandwidth (bitrate) isgreatly reduced, and hence a less capable interface/air interface can beused between the capture device 302 and the recipient 304.

Also, subsequent to the pre-processing, the encoded data may also be“tagged” via e.g., metadata or other data ancillary to the image dataitself so as to include desired information such as theidentity/configuration of the capture device (or its particularsensors), date/time, geographic coordinates, user-specified fields,coding formats, or other.

Upon receipt by the receiving device 304, the encoded image data isunpacked as necessary (e.g., stripped of its framing/headers, etc.) anddecoded via decoding logic 316 operative to run on the recipientplatform 304. As will be appreciated, the recipient may include forinstance a decoder or player algorithm for the target codec used (e.g.,an MPEG decoder). Once decoded, the recovered pre-processed andstabilized data is then manipulated via post-processing 318 (which mayinclude for instance stitching or other enhancement or processingtechniques, including another stabilization process performed on imagedata that has been decoded on the target codec (such as MPEG) versus thestabilization performed on the unrefined image data by the capturedevice 302). The stitching or combination logic 318 may, depending onthe type used, include algorithms for, e.g.: (i) edge detection, and(ii) combination or stitching of portions of images (such as matchingedges to fit seams), as well as other functions, as described in greaterdetail below. Moreover, the combination process (or portions thereof)may be predicated or based at least in part on one or more display orpresentation considerations or rules, such as those relating to adesired end-user display format, and image resolution/density.

Notably, the combination routines 318 utilized on the recipient/targetplatform 304 are, in one embodiment, greatly enhanced over thoseutilized on the capture device (i.e., for the “pre-stitch” 310 of theunrefined image data) so as to both utilize the greater onboardprocessing capabilities of the recipient platform, and enhance finalcombined image quality and user experience.

It will again be noted that while the foregoing exemplary embodiment ofthe architecture 300 is described in terms of a multi-sensor capturedevice (e.g., two spherical lens devices), the architecture and methodsdescribed herein may be adapted to single lens paradigms as well. Forinstance, even though combination or stitching of two images may beobviated in the single lens paradigm, benefits from the use ofstabilization processes before the encoding is performed can result indownstream benefits including, inter alia, reduced encoded file size,transmission bandwidth requirements, and post-processing required by therecipient/target platform.

Still other camera systems may incorporate stereo vision (e.g., two ormore lenses providing a stereo view as opposed to a “back to back” viewas in FIG. 4A) for use in for example, 3D video and photography. Inanother example, a panning video capture can be divided into individualframes, and then stitched together. Video capture embodiments may usemany frames (at many different perspectives) to perform stitching.Additionally, while the following description is presented within thecontext of visible light, other forms of image capture may be used withequivalent success. Common examples include without limitation,infrared, sonic, radar, lidar, and/or any other form of capture. In somecases, different capture technologies can provide a diversity ofinformation more easily than visual imagery. For example, asonar/visible light hybrid system can provide depth information andvisible light information.

Exemplary Combining Approaches—

It will be appreciated that as used in the foregoing discussion of FIGS.3 and 3A, the terms “combining,” “combination” or similar refer to aprocess where at least a portion of image data associated with onesource (e.g., sensor) or region is logically related to data fromanother source, sensor or region. Such logical relations may includeprocesses such as “stitching” (e.g., where data from one image or regionis combined with data from another, such that some data loss occurs, asin pixel replacement operations—discussed in greater detail below) and“matching” (e.g., where first data is positioned relative to second dataso as to relate objects or features in one image relative to the other,but does not necessarily result in image data loss). Exemplary variantsof combination processing techniques useful with the architecture ofFIGS. 3 and 3A are now described in greater detail.

It will be appreciated that depending on the type of processing applied(e.g., stitching), various results may be obtained. For instance, if afull parallax compensation stitch operation (or even a simple blendoperation) is applied, recoverability of the lost information isirreversible. The extra pixels rotated from the other image capture maybe stored, without blend or any stitch being applied. This approach canachieve wider (or even infinite) jitter, without requiring more pixels.However, a seam between the front and back images may be produced thatis encoded, but this does not greatly impact bitrate or quality (i.e.,the savings made with the stable image is greater than the losses due tothe seam). As one example, dual 200° lenses with a large jitter (e.g.,of 90°) would produce movement of the image front lens image circle from−10° to 190°, to only having 80-190° on the front lens, with 170°-260°associated with the back lens. The overlap can be preserved for laterstitching.

At a very simple level, one species of combination of two or more imagesmay include merely aligning portions of the constituent unrefined dataimages such as based on one or more edges. For instance, where portionsof a common object are present within a first image and a second image(i.e., straddles the boundary), merely (algorithmically) butting theedges of the images together so that the common object aligns may beused (assuming similar enough rendering of the object at each of theedges).

Another species of combining—“stitching”—refers to the process ofcombining multiple images with overlapping fields of view to produce anaggregated or composite image with a substantially larger FOV, higherquality, improved resolution, and/or other desired attributes. There area number of image stitching techniques that can be used for unrefinedimage data, including feather and blend, and depth based image warping,etc.

In contrast to unrefined image data, target codec formats such as MPEGare formatted to be able to be rendered by a playing device such as aPC, laptop, or mobile device with the appropriate codec software.Accordingly, in many cases, a standard display range (e.g., 8 bit, 16bit, etc.) and standard display size (e.g., 1080p, etc.) are utilized toenable consistency with ubiquitous commercial display and renderingtechnologies. As such, in contrast to unrefined image data, MPEG orother target codec data does not natively contain capturedevice-specific information (other than that which might be inserted invendor proprietary fields—e.g., lens polynomial data).

Accordingly, techniques used for stitching unrefined image data (aswithin the pre-processing logic of the capture device 302 of FIGS. 3 and3A) will utilize different approaches than those utilized in therecipient/target platform 304 stitch logic 318, the latter of whichoperate on image data decoded from MPEG or other target codecs versusthe unrefined image data generated by the camera apparatus sensors andISP logic.

Various other techniques for “combining” images via the capture deviceunrefined image data stitch process may be used consistent with thepresent disclosure (depending on the platform performing theoperation(s)), the foregoing being purely illustrative.

“High Quality” or Full Combination Approaches

In the exemplary embodiments, the recipient/target platform 304utilizes, as part of its “full” processing logic, combination logicdirected to use of data decoded from the target codec (e.g., MPEG)versus the unrefined image data combination used in the capture device302. Most approaches to image data combination give more seamlessresults when the overlapping regions between source images have similarcapture conditions (e.g., lighting, perspective, color balance, focus).However, some combination techniques (which may be used for instance onthe target/recipient platform 304 as part of its stitch logic 318 afterthe received MPEG data has been decoded) may be able to leverageadvanced image processing techniques in regions of overlap to compensateor even benefit from such differences; for example, image informationthat is captured under a low light exposure can be combined with imageinformation at a higher light exposure to emulate a larger dynamic rangeof exposure than would otherwise be possible with the camera sensor(also commonly referred to as High Dynamic Range (HDR) photography).Typically, an overlap region of 10%-20% of the total FOV can be used toreconcile and blend away differences between the source images to createan aesthetically “seamless” image.

Hence, the various embodiments described herein contemplate bothutilization of “complex” combination or stitching techniques (such aswhere the recipient/target platform is a highly capable videodevelopment platform such as a PC with sophisticated image editingsoftware), as well as more simplistic combination approaches (such aswhere the recipient platform 304 is a less capable mobile device). Seethe discussion of FIG. 9 presented infra for additional detail.

Generally, complex combination stitching techniques include one or moresteps of: (i) determining which pixel coordinates of a first sourceimage correspond to pixel coordinates of another image (alignment), (ii)reconciling differences in redundant pixel values between the two sourceimages, (iii) applying blending filters, and (iv) warping the resultingstitched image to a projection. Various other techniques may be used,and the descriptions being purely illustrative.

One such example of a complex stitching technique is so-calleddepth-based stitching which uses object/feature detection and/orstereovision, to identify objects of varying distance or “depth” fromthe camera system. Based on the inferred depth of the source images andthe relative distance and field of views of the corresponding camerasystem, the effects of parallax can be reduced or removed entirely.Existing solutions for removing parallax may be widely found throughrelevant literature; for example, the study of isomorphism withinprojective space (e.g., two equivalent objects) that are induced by anisomorphism of a vector space (e.g., two equivalent lines of sight) isbroadly described as “homography”.

When stitching or matching source images from the multiple (e.g., two(2)) fields of view together, the stitching or matching algorithmsultimately (i.e., before final rendering) should reconcile at least anysalient differences between the two (2) source images. For example,objects present within overlapping regions (see FIG. 4A) will appearslightly different between the two (2) source images due to parallaxeffects. As used herein, the term “parallax” refers without limitationto a displacement or difference in the apparent position of an objectviewed along different lines of sight. Parallax can be mathematicallyexpressed or described with the angle or semi-angle of inclinationbetween the lines of sight. As used herein, the term “perspective”refers to a warping or difference in the apparent dimensions of anobject viewed along a line of sight.

As used herein, the term “redundant” within the context of sourceimages, refers without limitation to pixel information that is found inmultiple source images. Redundant information may be introduced byparallax effects and can be reconciled together to generate stitchedoutput information. In contrast, as used herein, the term “singular”within the context of source images, refers without limitation to pixelinformation that is only found in a single source image. Singularinformation may be caused by blind spots or other occlusions and cannotbe reconciled between images without introducing undesirable artifacts(e.g., translucency, warping, or other undesirable visual effects).

Redundantly captured information can be used in the combining (e.g.,stitching) process to improve stitching. For example, sophisticatedstitching techniques may attempt to use parallax information to discerndistances and/or evaluate depth of the field of view. Still othertechniques may intelligently weight or select (to the exclusion ofothers) singular pixel information from each field of view. However,simple stitching techniques (such as those described elsewhere hereinwith respect to the exemplary “pre-processing” performed by the capturedevice 302) may not differentiate between redundant and singularinformation; e.g., simple stitching may use a relatively simplecut-and-feather scheme, averaging scheme, or other unilaterally appliedfiltering technique.

Moreover, as will be further recognized, there are many ways to adjustan image to correct for e.g., parallax and/or blind spots. Adjustmentsperformed by the recipient/target platform 304 may include, withoutlimitation: warping, blurring or sharpening, selection, and/or averagingpixel information from the source images. For example, changing theperspective of a field of view may be performed by warping or skewingthe corresponding field of view. Moreover, identified objects atdifferent distances may be skewed to different degrees corresponding totheir distance. Similarly, objects that are in one source image but notthe other (e.g., such as where only one of the cameras has a blind spot)will create a “ghost” or translucent version, if the redundant pixelsare directly combined. In such cases, a more accurate rendering can beperformed by selecting the pixels from one source image or the other. Instill other cases, ghosting or translucency may be a desirable artifact.For example, objects in motion look more natural when rendered withslight ghosting, rather than with crisp lines (crisp edges create astop-motion effect).

So-called “feature-based detection” can be used consistent with thepresent disclosure as well, and is based on edge detection, surfacedetection, object recognition, shape recognition, and/or any number ofother visual recognition techniques. Additionally, artisans of ordinaryskill in the related arts will readily appreciate that any featurematching between two different images, no matter how similar, will haveambiguous features or features which cannot be matched; consequently,most feature-based detection algorithms can only achieve a best fitbased on for example, a sum of differences, sum of squares, or othersuch metric. Such metrics can also be reported as a confidence metric.

Application of feature recognition-based image stitching operations ofthe type that may be used within or by the recipient/target platform 304would be well understood by artisans of ordinary skill given the presentdisclosure; see, e.g., additional details for feature based stitchingoperations as described within “Image Alignment and Stitching: ATutorial,” preliminary draft published Sep. 27, 2004 to RichardSzeliski, incorporated herein by reference in its entirety. Still othertechniques and/or variations may be made by artisans of ordinary skillin the related arts, the foregoing being purely illustrative.

In contrast to the more complex approaches described above, onetechnique for quickly stitching together source images is a so-called“cut-and-feather” stitching technique. The first step of acut-and-feather stitch is to cut (crop out) portions of a source imagethat extend beyond the stitch. For example, with the Janus configurationof FIG. 4A, the stitch is located at the 180° meridian. In somevariants, the images may be cropped to favor one of the source images.For example, a first source image may have better image quality through190° of view, therefore the counterpart second source image is croppedat a corresponding 170°. Moreover, since quality may vary over theimage, it is further appreciated that different portions of a sourceimage may be preferentially weighted. For example, a first source imagemay have a better or worse image quality in a certain subset of theoverlap (and treated with a larger or smaller cropping area), whereasthe remaining portions of the image are cropped at the default (e.g.,180°).

The resulting cropped images are joined and “feathered.” Here,feathering generally refers to, without limitation: blending, filtering,blurring, sharpening, burning, and/or any number of other imageprocessing techniques. More generally, feathering reduces or obfuscatesthe seam by averaging the differences in pixel values across the seam.Feathering is limited in effectiveness because it only considers thepixel information of the source images, and may introduce someundesirable artifacts into the resulting image (e.g., ghosting,translucency, etc.). However, feathering is computationally simple andcan be performed with very little processing effort (and can beperformed in varying degrees). Feathering is suitable for use on mostmobile platforms, and/or where stitching must be done quickly (e.g.,streaming video).

Cut operations and feather operations are well understood by artisans ofordinary skill; for example, additional details for cutout and feathertype operations are described within “Image Alignment and Stitching: ATutorial,” preliminary draft published Sep. 27, 2004 to RichardSzeliski, previously incorporated herein by reference in its entirety.Still other techniques may be used and/or variations may be made byartisans of ordinary skill in the related arts when given the presentdisclosure, the foregoing being purely illustrative.

In some implementations, a cut-and-feather stitch may also provide someinformation as to the degree of confidence of the stitch. Simple metricsmay include, without limitation: the differences in pixel information atthe seam prior to feathering (e.g., a sum of difference, or sum ofsquare of difference, or other metric), the amount of feathering (e.g.,a sum of changes to pixel values), and/or other quantitative measures ofsmoothing. More complicated metrics may include e.g., user identifiedartifacts, holistic measures of the image (including portions outside ofthe stitch), and/or other identified metrics.

Further, in terms of the recipient/target platform 304 and its stitchprocessing logic 318 generally, various different stitching qualitymetrics may be gathered, again depending on the capabilities of theplatform performing the stitching or combination. For instance,stitching metrics may be gathered and utilized by the stitch process 318and may be based on the original quality of the source images; forexample, a blurry or under exposed image provide considerably lessinformation during stitching. Stitching metrics may also quantify thedifferences between the original source images at the stitch (e.g., theamount of disparity at the stitch, larger disparities result in poorerresults). Under such measures, the difference in the stitch may bequantified in the amount of adjustment to pixel values; e.g., largershifts in color values may indicate poor stitching. In other measures,the difference in the stitch may be quantified by the absolute number ofpixels which changed (rather than a measure of pixel information).Additionally, changes to source images may be weighted differently. Forexample, a source image with dubious image quality (e.g., due tounderexposure) may have an underweight effect on the resulting stitch.

Still other stitching metrics utilized by the post-processing stitchlogic 318 may quantify holistic differences between the post-stitchimage and its original source images. Stitching that has warping orskewing that appears to be multimodal (with multiple maxima/minima) isunlikely to be attributable to mere differences in perspective and aremore likely due to an unintentional “fold-in” stitch (where falselymatched distinct features of the source images were “folded” togetherinto one feature). Similarly, excessive warping or skewing is alsoundesirable and may indicate problems with the originally capturedsource images. Some stitching metrics may attempt to quantifyundesirable artifacts (e.g., blurriness, sharpness, unusual coloration).More generally, artisans of ordinary skill in the related arts willreadily appreciate that virtually any “confidence” metric can be used toconvey the quality of the stitched result.

It will also be appreciated that combination (e.g., stitch) quality maybe localized to a spatial location within the stitched image. Forexample, consider an object that is occluded from one source image butpresent in the other. The remaining portions of the stitched image maybe well stitched; however, the object itself will be difficult toreconcile into a final stitched image (e.g., whether the object ispresent or not).

Additionally, it will be recognized that heterogeneous or locallydifferentiated approaches can be used consistent with the presentdisclosure for combination of image data. For instance, stitchingtechniques may be localized to a spatial location within the stitchedimage; a mobile device for example (see discussion of FIG. 9 ) may beable to perform more complex stitching techniques (e.g., a depth-basedstitch) over certain portions of interest within the image, but usesimpler stitching techniques (e.g., a cut-and-feather stitch) over areaswhich are less important. Selective stitching can be useful to providebetter results in reasonable processing times within the constraints ofa mobile platform. For example, the user may be able to select portionsof the quickly stitched image to check “on-the-spot”; the resultinglocalized high quality stitching will let the user know whether they“got the shot.”

Various other techniques for full stitching or combination of images maybe used consistent with the present disclosure, the foregoing beingpurely illustrative. Other techniques, such as the non-uniformdownsampling approach described in co-owned and co-pending U.S. patentapplication Ser. No. 16/235,866 entitled “APPARATUS AND METHODS FORNON-UNIFORM DOWNSAMPLING OF CAPTURED PANORAMIC IMAGES” filed Dec. 28,2018 and incorporated herein by reference in its entirety, may be usedconsistent with the present disclosure as well.

Exemplary Capture Apparatus—

FIG. 4 is a block diagram illustrating components of an example captureapparatus able to read instructions from a computer-readable medium andexecute them in one or more processors (or controllers). The apparatusin FIG. 4 may represent an implementation of, for example, the mobileaction camera device 302 for performing the image capture,pre-processing, stabilization, and encoding processes described hereinwith respect to FIGS. 3 and 3A.

The capture apparatus 400 can be used to execute instructions (e.g.,program code or software 416 stored in memory 414) for causing thecapture apparatus 400 to perform any one or more of the methodologies(or processes) described herein. In some implementations, the captureapparatus 400 operates as a standalone mobile device, or as a connected(e.g., networked) device that connects to one or more networks orcomputer systems such as the computing device 700 of FIG. 7 . Thecapture apparatus 400 may comprise, for example, e.g., a mobile “action”camera device such as GoPro Fusion camera or other panoramic imagecapture device). In another embodiment, the capture apparatus 400 may bepart of a host platform, such as a smartphone or laptop computer.Further, while only a single capture apparatus 400 is illustrated, aplurality of such devices may be used to source the image componentsdescribed herein. For instance, in one variant, two spatially co-located(but otherwise unconnected or unaffiliated) devices pointed in differentdirections may be used to generate the unrefined image discussedelsewhere herein.

The example capture apparatus 400 includes multiple processing units,including (i) two (2) image signal processors 406 used to process therespective image data received from each sensor 110, 120, and a CPUprocessor apparatus 412 used to support operations of the capture deviceincluding execution of the aforementioned computer programs 416 relatingto image data pre-processing, stabilization and encoding. Alternatively,a single image signal processor 406 may be used to process image datareceived from both sensors.

The processor apparatus of the capture apparatus 400 may furtherinclude, for example, one or more of a graphics processing unit (GPU), adigital signal processor (DSP), a controller, a state machine, one ormore application specific integrated circuits (ASICs), as well as one ormore radio-frequency integrated circuits (RFICs) (e.g., used to supportwireless data communications via the data interface 418 such as via IEEEStd. 802.11, Bluetooth/BLE, IEEE Std. 802.15.4, 3GPP (e.g., 4G/4.5G/5G)NB-IoT, NFC (e.g., ISO 14433) or other air interface, or any combinationof the foregoing. Similarly, the data interface(s) 418 may includewireline or optical interfaces such as USB, HDMI, DisplayPort, or othersuch interfaces and supporting protocols.

The capture apparatus 400 also includes a main memory 414, and may alsoinclude other storage devices (not shown) such as ROM, SRAM, as well asa mass storage device 422 such as NAND/NOR flash memory, SSD, or even aruggedized HDD. The processor(s) 412, memory 414, the network interfaces418, the storage units and the mass storage 422 may communicate via abus using any number of data bus protocols such as PCIe.

In addition, the capture apparatus 400 may include a user interface 420and supporting circuitry and software which may include a display deviceand driver (e.g., to drive a plasma display panel (PDP), a liquidcrystal display (LCD), or capacitive touch screen). The captureapparatus 400 may also include input/output devices, e.g., analphanumeric input device (e.g., touch screen-based keypad or anexternal input device such as a keyboard, which may be coincident withor part of the UI 420), a signal capture/generation device (e.g., aspeaker and/or microphone; not shown).

FIG. 4A illustrates an embodiment of the capture device 302 of FIG. 4 ;i.e., as an exemplary spherical camera system that may include a firstcamera or sensor 110 capturing a first FOV 410 and a second camera orsensor 120 capturing a second FOV 408. In one or more implementations,the cameras 110, 120 may be integrated in a back-to-back configurationin which cameras 110, 120 face opposite directions. For example, inoperation, the first camera 110 may be a “front-facing” camera 110 suchthat a user may point the first camera towards an object or scene ofinterest and the second camera 120 may be a “rear-facing” camera facingin an opposite direction of the front-facing camera 110. While thedesignations of front-facing and rear-facing are useful in describingthe example processes described herein, these designations are arbitraryand the camera system 302 may operate in any orientation.

The fields of view 408, 410 may each include a hyper-hemispherical FOVthat captures slightly greater than a 180° range in at least onedirection. Because the respective fields of view 408, 410 arehyper-hemispherical (e.g., greater than 180°), they overlap inoverlapping regions 402, 404 near their respective boundaries. Forexample, the fields of view 408, 410 may overlap by n degrees (e.g.,where n equals 1°, 5°, 10° or other various degrees of field of viewoverlap between, for example, a front-facing and rear-facing camera).These overlapping regions 402, 404 may be used for the stitching ormatching of separately captured images obtained by the respectivecameras 110, 120, as will be described in further detail below. Inimplementations where the respective FOV ranges are equal for each ofthe first camera 110 and the second camera 120, these configurationswill be referred to hereinafter as symmetric lensing configurations.

In some implementations, the first camera 110 may be configured tocapture one range in at least one direction (e.g., 195°), while thesecond camera 120 may be configured to capture a different range in atleast one direction (e.g., 225°). In other words, the first and secondcameras 110, 120 may capture differing ranges in their respective fieldsof view 408, 410 so long as their fields of view overlap in at least oneoverlapping region 402, 404. In implementations where the respective FOVranges differ for each of the first camera 110 and the second camera120, these configurations will be referred to as asymmetric lensingconfigurations.

It will be appreciated that certain camera configurations contain three(or more) cameras; the corresponding field of views for these camerasdon't necessarily have to be hyper-hemispherical (i.e., greater than180°). For example, in an implementation that utilizes three cameras,each of these cameras may capture an image that has a FOV that isgreater than a 120° range in at least one direction, so that theresultant images may be stitched together into a full 360° field ofview. Implementations that utilize three (or more) cameras maycollectively contain either a symmetric lensing configuration or,alternatively, may collectively contain an asymmetric lensingconfiguration. Similarly, where a complete panorama is not required(e.g., less than a full 360° field of view), fewer cameras with reducedview angles can be used with equivalent success.

The number of pixels in a camera sensor and the FOV are typically“fixed” in a camera system and do not change during use. Generally, themanufacturer will design the camera to suit the intended application(s).For instance, an activity camera that is mobile and rugged will havedifferent capture parameters than a cinema-quality camera designed fore.g., crane mounts or other bulky steadying platforms. Artisans ofordinary skill in the related arts will readily appreciate that the samenumber of pixels may be used to capture a larger FOV at lowerresolution, or a smaller FOV at a higher resolution. For instance, a ten(10) Megapixel (MP) camera sensor that is coupled to a 195° FOV lensprovides a higher effective resolution than the same 10 MP camera sensorused for a 245° FOV lens.

As shown in the configuration of FIG. 4A, the overlapping regions 402,404 are fixed and do not change during use. Camera manufacturers maydesign the camera body with larger or smaller overlap regions; a largeroverlap region may be used for better quality image stitching (asdiscussed above), but can result in an overall drop in image resolutionas a result of a lower amount of pixels per degree of FOV (i.e., a lowernumber of pixels per degree of FOV). Conversely, a smaller overlapregion may be used for lower quality image stitching, but may result inan overall increase in image resolution for the captured image.

In other designs, the overlapping regions may be configurable, due tochanges in the camera body and/or lens. Video variants may even be ableto dynamically change overlap regions during an ongoing capture. Forexample, video cameras may have optical lens elements that canphysically change (even during ongoing capture) e.g., a zoom body thatallows the camera to change the focal length. Similarly, static camerasare commonly designed with modular components that can be changed out;for example, different lens attachments can impart different view anglesand/or focal lengths. Some cameras may even be constructed to allowdifferent sensors or may selectively use different sensors withdifferent capture characteristics (e.g., switching between optical andIR sensors, or between higher and lower capture quality sensors).

It will be appreciated that while the exemplary embodiments of thearchitecture 300 of FIGS. 3 and 3A are discussed in terms of sphericallenses with a prescribed projection and characteristics (such as thoseof FIG. 4A), other types of lenses/projections may be used as well.Spherical camera systems, such as the spherical camera system 302 shownin FIGS. 4 and 4A, capture images through the use of a fisheye lens. Afisheye lens is an ultra wide-angle lens that produces visualdistortion, particularly towards the edges of a capture scene. FIG. 5Aillustrates an exemplary captured scene 500 that illustrates the highlevels of distortion towards the edges of the fisheye projection andlower levels of distortion towards the center focal point of the fisheyeprojection. FIG. 5B illustrates the cause of the distortion. Inparticular, the distortion is caused due to the geometry of the lens 520as the lens focuses light onto an image sensor 510. Additionally, thegeometry of the lens 520 also affects the resolution density of thecaptured image. For example as can be seen in FIG. 5B, light that entersthe lens 520 in a manner that is orthogonal to the image sensor willhave the highest amount of resolution. Conversely, light that enters thelens 520 at oblique angles to the image sensor will have lower amountsof resolution. FIG. 5C illustrates an exemplary resolution density as afunction of viewing angle for a fisheye lens. As can be seen, theportion 540 of the captured scene at the center of the lens has thehighest resolution density, while the portion 550 away from the centerof the scene has a comparatively lower resolution density. The averageresolution (or effective resolution) is illustrated by line 530. Forexample, a captured scene with an effective resolution of 4K willactually have a greater than 4K resolution at the center portion 540 ofthe captured scene, and a lower than 4K resolution at the outer portions550 of the capture scene.

FIGS. 5D and 5E illustrate an exemplary rectilinear lens that may beused consistent with the methods and apparatus of the presentdisclosure. As with the fisheye lens of FIGS. 5A-5C, the rectilinearlens has an inherent variation in image resolution density as a functionof the angle of the incident energy.

As discussed above, the resolution density curve is a function of thelens geometry, as is shown in more detail in the plot 600 of FIG. 6 .For example, an ideal fisheye lens may have a resolution density as afunction of viewing angle that is represented by the first curve 630.Other lens geometry may have a “flatter” resolution density asrepresented by second curve 620. Yet other lens geometry may have an“inverted” resolution density as represented by the third curve 610. Inthe case of inverted resolution density curve 610, the resolution iseffectively the highest towards the edges of the captured scene andlowest towards the center of the scene. Contrast this with curves 620,630 where the resolution density is the lowest towards the edges of thecaptured scene. Notably, the various aspects of the present disclosuremay advantageously be utilized with different types of resolutiondensity profiles or curves. It should be further noted that theforegoing curves 610, 620, 630 are merely exemplary and that other lensgeometries may collectively produce an effectively countless number ofresolution density curves that may be used consistent with thedisclosure.

Exemplary Recipient/Target Apparatus—

FIG. 7 is a block diagram illustrating components of an examplerecipient or target apparatus 304 useful with the various aspects of thepresent disclosure. In one variant, the recipient platform 304 is a highperformance computing system able to read instructions from acomputer-readable medium and execute them in one or more processors (orcontrollers). The computing system in FIG. 7 may represent animplementation of, for example, the video processing device forperforming the decode and “full stitch” processes described herein.

The computing system 700 can be used to execute instructions 716 (e.g.,program code or software) for causing the computing system 700 toperform any one or more of the methodologies (or processes) describedherein. In some implementations, the computing system 700 operates as astandalone device or a connected (e.g., networked) device that connectsto other computer systems (including the capture device 302 directlysuch as via wireless interface), or indirectly via an intermediary suchas a cloud server or proxy process). The computing system 700 mayinclude, for example, a personal computer (PC), a tablet PC, a notebookcomputer, or other device capable of executing instructions or logic(sequential or otherwise) that specify actions to be taken.

It will be noted that the computing system 700 may also be integratedwith the capture device is some cases. For example, in someimplementations the computing system 700 may include an image capturedevice (e.g., a GoPro Fusion camera or other panoramic image capturedevice) whether physically in its form factor or via cable.

In another embodiment, the computing system 700 may include a server. Ina networked deployment, the computing system 700 may operate in thecapacity of a server or client in a server-client network environment,or as a peer device in a peer-to-peer (or distributed) networkenvironment. For instance, in one implementation, the computing system700 may wirelessly interface with a plurality of different capturedevices, whether homogeneous or heterogeneous in configuration (e.g.,one spherical/fisheye, one single lens, etc.), such as for concurrentcoverage of the same or different subject matter.

Further, while only a single computer system 700 is illustrated, aplurality of computing systems 700 may operate to jointly executeinstructions 716 to perform any one or more of the methodologiesdiscussed herein (e.g., via a distributed software environment). Suchlogic may include decode logic and full (high quality) stitch logicincluding presentation logic 717. As such, individual processing tasksassociated with the logic 716 may be off-loaded or assigned to differentdevices.

The example computing system 700 includes one or more processing units(generally processor apparatus). The processor apparatus may include,for example, a central processing unit (CPU) 712, a graphics processingunit (GPU) 720 as part of a video card 724, and digital signal processor(DSP) (not shown). Such processors may also include a controller, astate machine, one or more application specific integrated circuits(ASICs), one or more radio-frequency integrated circuits (RFICs), or anycombination of the foregoing. The computing system 700 also includes amain memory 714. The computing system 700 may include a storage unit.The CPU processor 712, memory 714 and mass storage unit 722 (as well asother components) may communicate via one or more data bus such as thosecompliant with PCIe or USB standards.

In addition, the computing system 700 may include a ROM, SRAM or otherstatic memory, a display driver (e.g., to drive a display device 744such as a plasma display panel (PDP), a liquid crystal display (LCD),capacitive or resistive touch screen input and display device asdiscussed below, or a projector). The computing system 700 may alsoinclude input/output devices, e.g., an alphanumeric input device 732(e.g., touch screen-based keypad or an external input device such as akeyboard), a dimensional (e.g., 2-D or 3-D) control device 730 (e.g., atouch screen or external input device such as a mouse, a trackball, ajoystick, a motion sensor, or other pointing instrument), a signalcapture/generation device (e.g., a speaker, camera, and/or microphone),and one or more network interface devices 718 (including e.g., PAN, LAN,WLAN, and MAN interfaces such as BLE, 802.15.4, USB, Wi-Fi, 3GPP(4G/4.5G/5G)), the foregoing components which also are configured tocommunicate via the bus(es).

Embodiments of the computing system 700 corresponding to a client devicemay include a different configuration than an embodiment of thecomputing system 700 corresponding to a server. For example, anembodiment corresponding to a server may include larger storagecapacity, more memory, and a faster processor/co-processors but may lackother components. An embodiment corresponding to a mobile device mayinclude less mass storage, less memory, and a power efficient (andslower) processor core(s), and different wireless or network interfaces.Moreover, the logic 716 loaded onto the mobile device may be accordinglyless capable than that of the high-end platform (e.g., PC) illustratedin FIG. 7 .

In some embodiments, the instructions comprising the logic 716 may alsoreside, completely or at least partially, within the processor 712(e.g., within a processor's cache or program memory) during executionthereof by the computing system 700, the main memory 714 and theprocessor 712 also constituting computer-readable media. Theinstructions of the logic 716 may be transmitted or received over anetwork via the network interface(s) 718 (e.g., at or before runtime).

While the computer-readable media memory 714, mass storage 722) areshown in an example embodiment to be single media, the term“computer-readable medium” should be taken to include a single medium ormultiple media (e.g., a centralized or distributed database, orassociated caches and servers) able to store the instructions 716 and/orother types of information. The term “computer-readable medium” shallalso be taken to include any medium that is capable of storinginstructions 716 for execution by the computing system 700 and thatcause the computing system 700 to perform, for example, one or more ofthe methodologies disclosed herein.

In one exemplary implementation of the system 700, relative to extantsystems, the jitter is removed and the compression image quality ishigher. Moreover, metadata is utilized in the mode stabilizationprocess. The “de-shaked” processing is not a final output, but rathermerely a method to store an image efficiently using “consumer grade”compression. The user for example may want differing stabilization looksor parameters, based on for instance their particular output use cases.Hence, the stabilization process control may be based for example onmetadata that describe one or more of (i) the original cameraorientation, and (ii) the stored image orientation.

Exemplary Methods—

Referring now to FIG. 8 , one exemplary generalized methodology 800 forthe processing of image data is shown and described in detail. It willbe appreciated that the methodology of FIG. 8 may be applied to bothmulti-sensor image data (i.e., which requires some level of combinationprior to subsequent processing), or single-sensor data.

At operation 802, image (video) data is captured by sensor(s) of thecapture device and processed by associated ISP 406 process (FIG. 4 ).

Next, per operation 804, the captured video data is pre-processed by thecapture device (e.g., by the CPU 412 and/or other dedicatedprocessors/cores of the apparatus 302). In one embodiment, thispre-processing includes (i) combination of two or more sets of imagedata corresponding to the same temporal period, and (ii) subsequentstabilization of the combined data structure(s) generated by thecombination process. For instance, in one variant, two contemporaneousframes of video data produced by the ISPs 406 are aligned or matched soas to permit stabilization. In another variant, two contemporaneousframes of video data produced by the ISPs 406 are “pre-stitched” (i.e.,the unrefined image data combined at one or more edges with some loss ofthe constituent image data at those edges) so as to permitstabilization.

In one embodiment, the stabilization process includes application of oneor more algorithms by the CPE 412 or other processing of the captureplatform 302 to compensate for motion or movement such as described withrespect to FIGS. 2A and 2B herein.

Next, per operation 806, the pre-processed (e.g., combined andstabilized) image data is then encoded to the target codec (e.g., MPEG)by the encoding logic/processes 314 of the capture device 302. As shownin FIGS. 3 and 3A, such encoding may include, inter alia, motionestimation, quantization, DCT, and residual encoding (as well as otherprocesses), depending on the identity of the target codec.

Also, per step 806, any ancillary data or metadata is also includedwithin the encoded video data as desired. For instance, timing data,capture device configuration, ID, MAC address, or other such informationmay be included.

Per operation 808, the recipient or target platform 304 receives thetransmitted encoded (and appended as applicable) and decodes the encodedvideo data according to the target codec format (e.g., MPEG).

Lastly, per step 810, processing of the decoded video data according tothe utilizing process is performed. In one embodiment, the utilizingprocess is one which is configured to perform additional processingsteps on the decoded video data to further enhance its quality, FOV,stability, or achieve other desired results. As discussed with respectto subsequent variants (FIGS. 8A and 8B), such processing may includeedge or feature detection, combination (e.g., stitching), filtering,color adjustment/enhancement, rotation, stabilization, and/or any numberof other operations.

Referring now to FIG. 8A, one exemplary implementation 820 of thegeneralized methodology 800 for the processing of image data is shownand described in detail. It will be appreciated that the methodology ofFIG. 8A may be applied to both multi-sensor image data (i.e., whichrequires some level of combination prior to subsequent processing), orsingle-sensor data.

At operation 822, image (video) data is captured by sensor(s) of thecapture device and processed by associated ISP 406 process (FIG. 4 ). Aspreviously discussed, in one variant, the image data is presented in anunrefined format, as generated by the sensor and associated ISP process406 (FIG. 4 ) or the capture device 302.

Next, per operation 824, the captured video data is pre-processed by thecapture device (e.g., by the CPU 412 and/or other dedicatedprocessors/cores of the apparatus 302). In one embodiment, thispre-processing includes (i) combination of two or more sets of imagedata corresponding to the same temporal period, and (ii) subsequentstabilization of the combined data structure(s) generated by thecombination process. For instance, in one variant, two contemporaneousframes of video data produced by the ISPs 406 are aligned or matched soas to permit stabilization. In another variant, two contemporaneousframes of video data produced by the ISPs 406 are “pre-stitched” (i.e.,the unrefined image data combined at one or more edges with some loss ofthe constituent image data at those edges) so as to permitstabilization.

In one embodiment, the stabilization process of operation 824 includesapplication of one or more algorithms by the CPE 412 or other processingof the capture platform 302 to compensate for motion or movement such asdescribed with respect to FIGS. 2A and 2B herein.

Next, per operation 826, the pre-processed (e.g., combined andstabilized) image data is then encoded to the target codec (e.g., MPEG)by the encoding logic/processes 314 of the capture device 302. As shownin FIGS. 3 and 3A, such encoding may include, inter alia, motionestimation, quantization, DCT, and residual encoding (as well as otherprocesses), depending on the identity of the target codec. Per step 826,any ancillary data or metadata is also included within the encoded videodata as desired, as previously described, as may associated audio trackor other types of track data if not included in the encoding process.

Per operation 828, the encoded data is packaged by the lower layers ofthe capture device 302 protocol stack (e.g., addressed, framed, CRCapplied, etc.) for transmission to the recipient/target platform 304.The transmission may occur immediately, after a period of time, be eventdrive (e.g., PUSH or PULL instigated by higher layer processes, etc.).It will be appreciated that while various embodiments of the disclosurecontemplate generation of files (e.g., MPEG encoded files) that aretransmitted, the disclosure also contemplates real time or streamingprotocols for delivery of the encoded media data as well.

Per operation 830, the recipient or target platform 304 receives thetransmitted encoded (and appended as applicable).

Per operation 832, the received data is unpacked (e.g., framing/headersstripped as applicable, packets re-sequenced for streaming media, errorcorrection applied, etc.).

Per operation 834, the stripped (encoded) media data is decodedaccording to the target codec format (e.g., MPEG).

Lastly, per step 836, processing of the decoded video data according tothe utilizing process is performed; here, a “full stitch” of the typedescribed above among other operations. As noted above, the utilizingprocess is one which is configured to perform additional processingsteps on the decoded video data to further enhance its quality, FOV,stability, or achieve other desired results. Such processing may includeedge or feature detection, high-quality combination (e.g., stitching),filtering, color adjustment/enhancement, rotation, stabilization, and/orany number of other operations. Advantageously, by virtue of the“pre-stitch” and stabilization by the encoding platform 302, theundesired artifacts such as non-physical object motion or jitter areabsent from the decoded and full-processed image data, thereby enhancinguser experience.

Referring now to FIG. 8B, another exemplary implementation 840 of thegeneralized methodology 800 for the processing of image data is shownand described in detail.

At operation 842, image (video) data is captured by the capture device.As previously discussed, in one variant, the image data is presented inan unrefined format, as generated by the sensors and associated ISPprocesses 406 (FIG. 4 ) or the capture device 302. In this example, two(2) sensors of the spherical or fisheye type are described for purposesof illustration.

Next, per operation 844, the captured video data is preliminarilymatched or aligned by the capture device (e.g., by the CPU 412 and/orother dedicated processors/cores of the apparatus 302). In oneembodiment, this pre-processing includes (i) combination of the two setsof image data corresponding to the same temporal period from the twosensors/ISPs of the capture device, and (ii) subsequent stabilization ofthe combined data structure(s) generated by the combination process. Forinstance, in one variant, two contemporaneous frames of video dataproduced by the ISPs 406 are aligned or matched so as to permitstabilization, without any stitching per se (i.e., no interleaving,replacement, deletion of overlap, etc.). In another variant, twocontemporaneous frames of video data produced by the ISPs 406 are“pre-stitched” (i.e., the unrefined image data combined at one or moreedges with some loss of the constituent image data at those edges due toelimination of overlap data, redundant pixel replacement, etc.) so as topermit stabilization.

Next, per operation 846, the combined image is stabilized. In oneembodiment, the stabilization process of operation 846 includesapplication of one or more algorithms by the CPE 412 or other processingof the capture platform 302 to compensate for motion or movement such asdescribed with respect to FIGS. 2A and 2B herein. Notably, without thecombination per operation 844, the subsequent stabilization mayultimately yield an improper result (i.e., two non-aligned or rotatedimages, if stabilized by the capture device stabilization logic, mayultimately be encoded and decoded with that misalignment/rotation, andhence produce a non-physical result upon final processing).

Next, per operation 848, the pre-processed (e.g., combined andstabilized) image data is then encoded to the target codec (e.g., MPEG)by the encoding logic/processes 314 of the capture device 302. As shownin FIGS. 3 and 3A, such encoding may include, inter alia, motionestimation, quantization, DCT, and residual encoding (as well as otherprocesses), depending on the identity of the target codec. Per operation848, any ancillary data or metadata is also included within the encodedvideo data as desired, as previously described, as may associated audiotrack or other types of track data if not included in the encodingprocess.

Per operation 850, the encoded data is packaged by the lower layers ofthe capture device 302 protocol stack (e.g., addressed, framed, CRCapplied, etc.) for transmission to the recipient/target platform 304.The transmission may occur immediately, after a period of time, or beevent driven (e.g., PUSH or PULL instigated by higher layer processes,etc.). It will be appreciated that while various embodiments of thedisclosure contemplate generation of files (e.g., MPEG encoded files)that are transmitted, the disclosure also contemplates real time orstreaming protocols for delivery of the encoded media data as well.

Per operation 852, the recipient or target platform 304 receives thetransmitted encoded (and appended as applicable), and unpacks thetransmitted media data (e.g., file, or packets as applicable); e.g.,framing/headers stripped as applicable, packets resequenced forstreaming media, error correction applied, etc.

Per operation 854, the stripped (encoded) media data is decodedaccording to the target codec format (e.g., MPEG).

Lastly, per step 856, a “full stitch” of the type described above amongother operations is performed. As noted above, the utilizing process isone which is configured to perform additional processing steps on thedecoded image data to further enhance its quality, FOV, stability, orachieve other desired results. Such processing may include edge orfeature detection, high-quality combination (e.g., stitching),filtering, color adjustment/enhancement, rotation, stabilization, and/orany number of other operations. Advantageously, by virtue of the“pre-stitch” and stabilization by the encoding platform 302, theundesired artifacts such as non-physical object motion or jitter areabsent from the decoded and full-processed image data, thereby enhancinguser experience.

FIG. 9 illustrates exemplary use cases for the various configurations ofthe architecture and methods of the present disclosure. In the firstscenario 902 (top of FIG. 9 ), the capture device 302 communicates the“pre-processed” (e.g., unrefined combined and stabilized and thenencoded) video data to a mobile device 910 such as a user's smartphone,via a wireless interface of the type previously described. In thisscenario, the mobile device 910 (having comparatively lower processingcapability, storage, etc. as compared to a full-quality image editing ordevelopment platform 920 (bottom), includes computer logic (e.g.,software) configured to develop a lower-quality combination or stitchedimage 912 from the received encoded data. For instance, some of thefull-function or complex combinational operations described above suchas edge detection, metric assessment, depth analysis, etc. may not besupported on the mobile device software, and hence such are substitutedwith more rudimentary processes such as cut-and-feather, etc. so as toenable the viewing user to briefly view and cognate the captured andprocessed images data from a higher layer of abstraction (i.e., Did Iget it? Was it pointing at the correct object?). Advantageously, suchreduced processing all carries the attendant benefits of reducedprocessing (and heat generation) and reduced power consumption.

In contrast, in the second scenario 904 (bottom of FIG. 9 ), the capturedevice 302 communicates the “pre-processed” (e.g., unrefined combinedand stabilized and then encoded) video data to a full function computingdevice 920 such as a user's PC, laptop, or even a cloud processingentity, via a wireless interface of the type previously described. Inthis scenario, the full-function device 920 (having comparatively higherprocessing capability, storage, etc. as compared to a mobile platform910 (top), includes computer logic (e.g., software) configured todevelop a high-quality combination or stitched image 912 from thereceived encoded data. For instance, some of the full-function orcomplex combinational operations described above such as edge detection,metric assessment, depth analysis, etc. which were not supported on themobile device software are included in the software suite resident onthe full-capacity device 920, and hence high-qualitycombination/stitching operations, as well as others, are used to producethe best possible quality “final” video data.

In either scenario 902, 904, the same “front end” processing on thecapture device can be used, since in the exemplary embodiments, nomeaningful degradation of the unrefined image data occurs as part of thepre-processing logic thereof. In the exemplary implementations, theoriginal captured data is sourced from the capture device to maximizequality; the mobile device 910 in the first scenario 902 is justde-tuned as it were in terms of its capability to fully exploit thedata. As such, data transfers 930 between the two devices (if used)should be configured so as to take into account the relative processingcapabilities of the different devices. For instance, a transfer of“full-processed” data from the mobile device 910 to the full-capabilitydevice 920 will not enable the full-quality device 920 (absent anydirect sourcing of the encoded data from the camera) to recover orreconstitute the high quality of the encoded image data; once the mobiledevice has processed it, the best the high-quality device can make fromthat is the same quality as the mobile device image 912. Note, however,that if the identical sourced data (i.e., the encoded file or streamreceived from the capture device 302) is merely provided over to thefull-quality platform 920 before subsequent processing, then afull-quality image can likewise be obtained.

Conversely, the mobile device 910 may be equipped to render thehigh-quality image data generated by the full-quality platform 920 withno loss of quality relative to the high-quality stitched image 922.

Where certain elements of these implementations can be partially orfully implemented using known components, only those portions of suchknown components that are necessary for an understanding of the presentdisclosure are described, and detailed descriptions of other portions ofsuch known components are omitted so as not to obscure the disclosure.

The processes described herein may be performed by a video processingsystem including at least one processor and a non-transitorycomputer-readable storage apparatus having a storage medium. The storagemedium stores a number of computer-executable instructions thereon, thatwhen executed by the at least one processor, cause the at least oneprocessor to perform the processes described herein. In an embodiment,the video processing system may be partially or wholly implemented inthe camera 302 or may be implemented partially or wholly in an externaldevice (e.g., in a computing device 304 or mobile device 910), that isseparate from the camera system 302 that obtained the images). Thevarious methodologies described herein are useful in, for example, thecompression, storage and/or transmission of this captured video data.The various methodologies described herein may also be useful institching processes associated with captured panoramic images.

Additionally, the processes and methodologies described herein (orportions thereof) may be performed by dedicated computerized systemlogic, including without limitation, application-specific integratedcircuits (ASICs), field-programmable gate arrays (FPGAs), and/or othertypes of integrated circuits or dedicated computerized logic that may beutilized in addition to, or alternatively from, the aforementionedcomputer-readable storage apparatus.

Moreover, in the present specification, an implementation showing asingular component should not be considered limiting; rather, thedisclosure is intended to encompass other implementations including aplurality of the same component, and vice-versa, unless explicitlystated otherwise herein.

Further, the present disclosure encompasses present and future knownequivalents to the components referred to herein by way of illustration.

As used herein, the term “computing device”, includes, but is notlimited to, personal computers (PCs) and minicomputers, whether desktop,laptop, or otherwise, mainframe computers, workstations, servers,personal digital assistants (PDAs), handheld computers, embeddedcomputers, programmable logic device, personal communicators, tabletcomputers, portable navigation aids, J2ME equipped devices, cellulartelephones, smart phones, personal integrated communication orentertainment devices, or literally any other device capable ofexecuting a set of instructions.

As used herein, the term “computer program” or “software” is meant toinclude any sequence or human or machine cognizable steps which performa function. Such program may be rendered in virtually any programminglanguage or environment including, for example, C/C++, C #, Fortran,COBOL, MATLAB™, PASCAL, Python, assembly language, markup languages(e.g., HTML, SGML, XML, VoXML), and the like, as well as object-orientedenvironments such as the Common Object Request Broker Architecture(CORBA), Java™ (including J2ME, Java Beans), Binary Runtime Environment(e.g., BREW), and the like.

As used herein, the terms “integrated circuit”, is meant to refer to anelectronic circuit manufactured by the patterned diffusion of traceelements into the surface of a thin substrate of semiconductor material.By way of non-limiting example, integrated circuits may include fieldprogrammable gate arrays (e.g., FPGAs), a programmable logic device(PLD), reconfigurable computer fabrics (RCFs), systems on a chip (SoC),application-specific integrated circuits (ASICs), and/or other types ofintegrated circuits.

As used herein, the term “memory” includes any type of integratedcircuit or other storage device adapted for storing digital dataincluding, without limitation, ROM. PROM, EEPROM, DRAM, Mobile DRAM,SDRAM, DDR/2 SDRAM, EDO/FPMS, RLDRAM, SRAM, “flash” memory (e.g.,NAND/NOR), memristor memory, and PSRAM.

As used herein, the term “processing unit” is meant generally to includedigital processing devices. By way of non-limiting example, digitalprocessing devices may include one or more of digital signal processors(DSPs), reduced instruction set computers (RISC), general-purpose (CISC)processors, microprocessors, gate arrays (e.g., field programmable gatearrays (FPGAs)), PLDs, reconfigurable computer fabrics (RCFs), arrayprocessors, secure microprocessors, application-specific integratedcircuits (ASICs), and/or other digital processing devices. Such digitalprocessors may be contained on a single unitary IC die, or distributedacross multiple components.

As used herein, the term “camera” may be used to refer withoutlimitation to any imaging device or sensor configured to capture,record, and/or convey still and/or video imagery, which may be sensitiveto visible parts of the electromagnetic spectrum and/or invisible partsof the electromagnetic spectrum (e.g., infrared, ultraviolet), and/orother energy (e.g., pressure waves), and may include one or morediscrete camera or sensor elements.

It will be recognized that while certain aspects of the technology aredescribed in terms of a specific sequence of steps of a method, thesedescriptions are only illustrative of the broader methods of thedisclosure, and may be modified as required by the particularapplication. Certain steps may be rendered unnecessary or optional undercertain circumstances. Additionally, certain steps or functionality maybe added to the disclosed implementations, or the order of performanceof two or more steps permuted. All such variations are considered to beencompassed within the disclosure disclosed and claimed herein.

While the above detailed description has shown, described, and pointedout novel features of the disclosure as applied to variousimplementations, it will be understood that various omissions,substitutions, and changes in the form and details of the device orprocess illustrated may be made by those skilled in the art withoutdeparting from the disclosure. The foregoing description is of the bestmode presently contemplated of carrying out the principles of thedisclosure. This description is in no way meant to be limiting, butrather should be taken as illustrative of the general principles of thetechnology. The scope of the disclosure should be determined withreference to the claims.

What is claimed is:
 1. A method of encoding captured image datacomprising: receiving at least two captured image data corresponding toa same temporal period; stitching the at least two captured image datato create stitched image data; performing image stabilization on thestitched image data to create stabilized image data; and encoding aplurality of the stabilized image data to generate stabilized video datacomprising post-image stabilization motion estimation vectors.
 2. Themethod of claim 1, wherein the image stabilization creates metadata thatdescribes one or more of an original camera orientation and a storedimage orientation.
 3. The method of claim 1, wherein the at least twocaptured image data comprises image data in an unrefined image formatand the stabilized video data comprises video data in a lossymotion-estimation-based codec format.
 4. The method of claim 1, whereinthe image stabilization reduces jitter in the stitched image data. 5.The method of claim 1, wherein encoding the plurality of the stabilizedimage data comprises performing motion estimation.
 6. The method ofclaim 5, wherein performing motion estimation comprises one or more of:performing motion estimation between a previously reconstructed frameand a current frame, performing current frame prediction using motionestimates and the previously reconstructed frame, and performingdifferential encoding of the current frame prediction and an actualcurrent frame as prediction error.
 7. The method of claim 1, furthercomprising transferring the stabilized video data to another device. 8.The method of claim 7, further comprising: decoding the stabilized videodata on the another device to create decoded video data; processing thedecoded video data on the another device to create processed video data;and re-encoding the processed video data on the another device.
 9. Themethod of claim 1, wherein the stabilized video data is generated fortransmission to another device for additional processing to create afull-processed image absent non-physical object motion.
 10. The methodof claim 1, wherein encoding the plurality of the stabilized image datacomprises performing motion estimation between a previouslyreconstructed frame and a current frame using the stabilized image datato generate the post-image stabilization motion estimation vectors. 11.An apparatus for image processing, comprising: a first image sensor; asecond image sensor; a processor; and a non-transitory computer-readablemedium comprising one or more instructions which, when executed by theprocessor causes the apparatus to: receive first captured image datafrom the first image sensor and second captured image data from thesecond image sensor, the first captured image data and the secondcaptured image data corresponding to a same temporal period; combine thefirst captured image data and the second captured image data to createcombined image data; perform image stabilization on the combined imagedata to create stabilized image data; and encode a plurality of thestabilized image data to generate stabilized video data comprisingpost-image stabilization motion estimation vectors.
 12. The apparatusfor image processing of claim 11, wherein the combined image data has a360° field of view.
 13. The apparatus for image processing of claim 11,wherein the encoding of the plurality of the stabilized image datacomprises a lossy encoding.
 14. The apparatus for image processing ofclaim 11, further comprising a data interface, wherein the instructionswhich, when executed by the processor further causes the apparatus totransmit the stabilized video data as a plurality of streaming packetsover the data interface.
 15. The apparatus for image processing of claim11, wherein the encoding the plurality of stabilized image datacomprises performing a simplified motion estimation based on eliminatingone or more motion-related artifacts.
 16. A non-transitorycomputer-readable apparatus comprising a storage medium having acomputer program stored thereon, the computer program comprising aplurality of instructions configured to, when executed by a processor,cause an apparatus to: receive captured video data; remove jitter fromthe captured video data to create stabilized video; and encode thecaptured video data to create an encoded video data, the encodingcomprising performing a motion estimation based on the stabilized videoto generate post-image stabilization motion estimation vectors.
 17. Thenon-transitory computer-readable apparatus of claim 16, wherein removingjitter from the captured video comprises performing image stabilizationon the captured video data.
 18. The non-transitory computer-readableapparatus of claim 16, wherein the removal of jitter from the capturedvideo data reduces complexity of the motion estimation.
 19. Thenon-transitory computer-readable apparatus of claim 18, wherein reducedcomplexity of the motion estimation reduces a file size of the encodedvideo data.
 20. The non-transitory computer-readable apparatus of claim16, wherein: the captured video data comprises a first video data and asecond video data, and the plurality of instructions configured to, whenexecuted by the processor, cause the apparatus to combine of the firstvideo data and the second video data by matching of at least one featurealong at least one common contextual edge of the first video data andthe second video data.